The nuclear industry has some of the most extreme environments in the world, with radiation levels and other hazards frequently restricting human access to facilities. Even when human entry is possible, the risks can be significant and very low levels of productivity. To date, robotic systems have had limited impact on the nuclear industry, but it is clear that they offer considerable opportunities for improved productivity and significantly reduced human risk. The nuclear industry has a vast array of highly complex and diverse challenges that span the entire industry: decommissioning and waste management, Plant Life Extension (PLEX), Nuclear New Build (NNB), small modular reactors (SMRs) and fusion. Whilst the challenges across the nuclear industry are varied, they share many similarities that relate to the extreme conditions that are present. Vitally these similarities also translate across into other environments, such as space, oil and gas and mining, all of which, for example, have challenges associated with radiation (high energy cosmic rays in space and the presence of naturally occurring radioactive materials (NORM) in mining and oil and gas). Major hazards associated with the nuclear industry include radiation; storage media (for example water, air, vacuum); lack of utilities (such as lighting, power or communications); restricted access; unstructured environments. These hazards mean that some challenges are currently intractable in the absence of solutions that will rely on future capabilities in Robotics and Artificial Intelligence (RAI). Reliable robotic systems are not just essential for future operations in the nuclear industry, but they also offer the potential to transform the industry globally. In decommissioning, robots will be required to characterise facilities (e.g. map dose rates, generate topographical maps and identify materials), inspect vessels and infrastructure, move, manipulate, cut, sort and segregate waste and assist operations staff. To support the life extension of existing nuclear power plants, robotic systems will be required to inspect and assess the integrity and condition of equipment and facilities and might even be used to implement urgent repairs in hard to reach areas of the plant. Similar systems will be required in NNB, fusion reactors and SMRs. Furthermore, it is essential that past mistakes in the design of nuclear facilities, which makes the deployment of robotic systems highly challenging, do not perpetuate into future builds. Even newly constructed facilities such as CERN, which now has many areas that are inaccessible to humans because of high radioactive dose rates, has been designed for human, rather than robotic intervention. Another major challenge that RAIN will grapple with is the use of digital technologies within the nuclear sector. Virtual and Augmented Reality, AI and machine learning have arrived but the nuclear sector is poorly positioned to understand and use these rapidly emerging technologies. RAIN will deliver the necessary step changes in fundamental robotics science and establish the pathways to impact that will enable the creation of a research and innovation ecosystem with the capability to lead the world in nuclear robotics. While our centre of gravity is around nuclear we have a keen focus on applications and exploitation in a much wider range of challenging environments.

The proposed research will use U-containing particles found in the environment around the Fukushima Dai-ichi Power Plant as micro-scale representations of fuel debris and corium materials still inside the stricken reactors. By collecting, isolating and studying these particles we can build an improved knowledge base capable of underpinning the decommissioning of these highly degraded nuclear fuels within these damaged reactors (specifically Fukushima Daiichi, but also applicable to the Chernobyl nuclear power plant). There is equally an applicability to UK legacy nuclear sites, for example historic environmental contamination from Windscale or Dounreay. The development of this unique knowledge base will support a reduction in the hazard, cost and timescale of decommissioning, enabling accelerated decommissioning of nuclear sites. This may have a secondary impact of enhancing public acceptance of civil nuclear energy generation and geological disposal of radioactive wastes at an important time prior to the launch of the geological disposal facility siting process. At the same time, this research will build expertise towards the Civil Nuclear and Resilience Directorate's (CNRD) objectives to protect nuclear sites from threats and hazards; ensuring the UK's preparedness for civil nuclear emergencies and ensuring the UK is a leader on non-proliferation.

The vision for this Programme is to deliver the step changes in Robotics and Autonomous Systems (RAS) capability that are necessary to overcome crucial challenges facing the nuclear industry in the coming decades. The RAS challenges faced in the nuclear industry are extremely demanding and complex. Many nuclear installations, particularly the legacy facilities, present highly unstructured and uncertain environments. Additionally, these "high consequence" environments may contain radiological, chemical, thermal and other hazards. To minimise risks of contamination and radiological shine paths, many nuclear facilities have very small access ports (150 mm - 250 mm diameter), which prevent large robotic systems being deployed. Smaller robots have inherent limitations with power, sensing, communications and processing power, which remain unsolved. Thick concrete walls mean that communication bandwidths may be severely limited, necessitating increased levels of autonomy. Grasping and manipulation challenges, and the associated computer vision and perception challenges are profound; a huge variety of legacy waste materials must be sorted, segregated, and often also disrupted (cut or sheared). Some materials, such as plastic sheeting, contaminated suits/gloves/respirators, ropes, chains can be deformed and often present as chaotic self-occluding piles. Even known rigid objects (e.g. fuel rod casings) may present as partially visible or fragmented. Trivial tasks are complicated by the fact that the material properties of the waste, the dose rates and the layout of the facility within which the waste is stored may all be uncertain. It is therefore vital that any robotic solution be capable of robustly responding to uncertainties. The problems are compounded further by contamination risks, which typically mean that once deployed, human interaction with the robot will be limited at best, autonomy and fault tolerance are therefore important. The need for RAS in the nuclear industry is spread across the entire fuel cycle: reactor operations; new build reactors; decommissioning and waste storage and this Programme will address generic problems across all these areas. It is anticipated that the research will have a significant impact on many other areas of robotics: space, sub-sea, mining, bomb-disposal and health care, for example and cross sector initiatives will be pursued to ensure that there is a two-way transfer of knowledge and technology between these sectors, which have many challenges in common with the nuclear industry. The work will build on the robotics and nuclear engineering expertise available within the three academic organisations, who are each involved in cutting-edge, internationally leading research in relevant areas. This expertise will be complemented by the industrial and technology transfer experience and expertise of the National Nuclear Laboratory who have a proven track record of successfully delivering innovation in to the nuclear industry. The partners in the Programme will work jointly to develop new RAS related technologies (hardware and software), with delivery of nuclear focused demonstrators that will illustrate the successful outcomes of the Programme. Thus we will provide the nuclear supply chain and end-users with the confidence to apply RAS in the nuclear sector. To develop RAS technology that is suitable for the nuclear industry, it is essential that the partners work closely with the nuclear supply chain. To achieve this, the Programme will be based in west Cumbria, the centre of much of the UK's nuclear industry. Working with researchers at the home campuses of the academic institutions, the Programme will create a clear pipeline that propels early stage research from TRL 1 through to industrially relevant technology at TRL 3/4. Utilising the established mechanisms already available in west Cumbria, this technology can then be taken through to TRL 9 and commercial deployment.

Many current challenges in Non-Destructive Evaluation (NDE) stem from the increased use of advanced materials and manufacturing processes that push the limits of materials' performance. NDE techniques are required that can cope with extreme environments (high temperature / radioactive environments), restricted access (inside engines or though access ports), and complex geometries. To address these challenges, this project will develop a new capability for real-time, remote ultrasonic imaging that can be used for NDE. This engineering challenge will be achieved by introducing a conceptual change to phased array ultrasonics, beyond the limits of geometrical, ultrasonic frequency and mode array characteristics, by adapting the array to the demands of the inspected structure, on-the-fly, and thus transforming the field. The long-term vision behind this project goes beyond inspection, to develop a method for monitoring and control of in-process parameters, in places of extreme environments such as fusion reactors or turbine engines. The industrial importance of the project is demonstrated by the significant cash and in-kind contributions of the project partners.

Fluid dynamics underpins large areas of engineering, environmental and scientific research, and is becoming increasingly important in medical science. At Leeds, we possess research expertise across each of these domains and we have an established record of working across disciplinary boundaries. This proposal builds upon this record through the establishment of a multidisciplinary CDT in Fluid Dynamics. Research techniques that will be applied, and developed, will encompass: mathematical modelling & theory; numerical methods, CFD & high performance computing (HPC); and measurement & experimentation. Engineering application areas to be addressed include: reacting flows; carbon capture, transport & storage; flow of polymer melts; mixing problems; particulate flows; coating & deposition; lubrication; medical devices; pathogen control; heat transport; wind turbines; fluid-structure interaction; and nuclear safety. Environmental application areas will consist of: groundwater flow; river/estuary flows; tidal flows; oceanography; atmospheric pollution; weather forecasting; climate modelling; dynamics of the Earth's interior; and solar & planetary flow problems. Facilities available to undertake this research include: the University's HPC system which, combined with the N8 regional facility that is hosted at Leeds, provides ~10000 computational cores, an extensive suite of licensed software and dedicated support staff; flow measurement techniques (including Particle Imaging Velocimetry (PIV), 2-component Laser Doppler Anemometry (LDA), Phase Doppler Anemometry (PDA) and Ultrasonic Doppler Velocity Profiling (UDVP)); techniques for measuring fluid concentration (Ultrasonic High Concentration Meter (UHCM) and Optical Backscatter Probes (OBS)) and a range of optical metrology systems (e.g. pulsed and continuous wave lasers). The UK has a substantial requirement for doctoral scientists and engineers who have a deep understanding of all aspects of fluid dynamics from theory through to experimental methods and numerical simulation. In manufacturing and process engineering, for example, many processes depend critically on fluid flows (e.g. extrusion of polymer melts, deposition of coatings, spray drying, etc.) and it is essential to understand and control these processes in order to optimize production efficiency and reliability (see letter of support from P&G for example). In large-scale mechanical engineering there is a demand for expertise in reacting turbulent flows in order to optimize fuel efficiency and engine performance, and in wetting and surface flows for the design and manufacture of pumps and filters. There is also a need for a wide variety of skilled experts in environmental fluid flows to support the growing need to understand and predict local pollution and threats to safety (atmospheric, surface water, ocean and sub-surface flows), and to predict weather, climate and space weather for satellite technology. We will train a new generation of researchers who will have a broad range of skills to transfer into industry and environmental agencies, hence our approach will be multi-disciplinary throughout. All students will undertake both modelling and experimental training before embarking on their PhD project - which will be co-supervised by academics from different Schools. The MSc component of the programmee will be specifically tailored to develop expertise in the mathematical background of fluid dynamics, in CFD/HPC, and in experimental techniques. Team-based projects will be used to develop the teamwork and communication skills we believe are essential. Finally, engagement with industry will be a key feature of this CDT: all students will undertake an industrial placement, a large number of projects will be industrially sponsored, and our non-academic partners will contribute actively to our management, implementation and strategic development.